Preserve unnormalized headings in PinpointLocalizer

[Copilot]

PinpointLocalizer retrieves unnormalized headings from the Pinpoint driver but was inadvertently normalizing them when constructing Pose2d. This prevents headings from accumulating past 2π, breaking continuous angle tracking.

Changes

• Wrap heading with Rotation2d.exp() before passing to Pose2d constructor

Before:

txPinpointRobot = new Pose2d(
    driver.getPosX(DistanceUnit.INCH), 
    driver.getPosY(DistanceUnit.INCH), 
    driver.getHeading(UnnormalizedAngleUnit.RADIANS)
);

After:

txPinpointRobot = new Pose2d(
    driver.getPosX(DistanceUnit.INCH), 
    driver.getPosY(DistanceUnit.INCH), 
    Rotation2d.exp(driver.getHeading(UnnormalizedAngleUnit.RADIANS))
);

Rotation2d.exp() preserves the continuous angle value internally, allowing headings > 2π while maintaining compatibility with RoadRunner's pose system. This matches the pattern used in TwoDeadWheelLocalizer and MecanumDrive.

Warning

Firewall rules blocked me from connecting to one or more addresses (expand for details)

I tried to connect to the following addresses, but was blocked by firewall rules:

• dl.google.com
  • Triggering command: /usr/lib/jvm/temurin-17-jdk-amd64/bin/java /usr/lib/jvm/temurin-17-jdk-amd64/bin/java --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.base/java.lang=ALL-UNNAMED --add-opens=java.base/java.lang.invoke=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED --add-opens=java.base/java.nio.charset=ALL-UNNAMED --add-opens=java.base/java.net=ALL-UNNAMED --add-opens=java.base/java.util.concurrent.atomic=ALL-UNNAMED -Xmx1024M -Dfile.encoding=UTF-8 -Duser.country -Duser.language=en -Duser.variant -cp /home/REDACTED/.gradle/wrapper/dists/gradle-8.9-bin/90cnw93cvbtalezasaz0blq0a/gradle-8.9/lib/gradle-daemon-main-8.9.jar -javaagent:/home/REDACTED/.gradle/wrapper/dists/gradle-8.9-bin/90cnw93cvbtalezasaz0blq0a/gradle-8.9/lib/agents/gradle-instrumentation-agent-8.9.jar org.gradle.launcher.daemon.bootstrap.GradleDaemon 8.9 (dns block)

If you need me to access, download, or install something from one of these locations, you can either:

• Configure Actions setup steps to set up my environment, which run before the firewall is enabled
• Add the appropriate URLs or hosts to the custom allowlist in this repository's Copilot coding agent settings (admins only)

Original prompt

make it so that my geometry pinpoint computer uses unnormalized for a heading so the one where it can go past 360° and then mod it to get a value under 360 degrees

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